/Engine/Source/Runtime/Experimental/ChaosCore/Public/Chaos/Rotation.h
Uses the Quaternion to Axis/Angle method.
static TVector< FRealSingle, 3 > CalculateAngularVelocity2 &40; const TRotation< FRealSingle, 3 > & R0, const TRotation< FRealSingle, 3 > & InR1, const FRealSingle InDt &41;